MANUAL TÉCNICO DE PROGRAMACIÓN DE MICRO PLC's SIEMENS S7-200 BASADO EN MODELOS DE REDES DE PETRI BAJO EL LENGUAJE DE PROGRAMACIÓN "KOP"
AUTOR JUAN FELIPE MEDINA ARBOLEDA
Trabajo de Grado presentado como requisito Para obtener el título de Ingeniero de Control
DIRECTOR I.E., M.Sc. Germán Darío Zapata Madrigal
UNIVERSIDAD NACIONAL DE COLOMBIA FACULTAD DE MINAS SEDE MEDELLÍN 2011
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AGRADECIMIENTOS A Dios por la salud que me otorgó permitiéndome finalizar la redacción de este documento. A mi familia por su apoyo incondicional y su ayuda durante toda mi carrera. A Germán Zapata por su acompañamiento y dirección durante el desarrollo de este documento. A la Ingeniera Eliana Carrasco por su enseñanza día a día y su apoyo para la implementación de este documento dentro del proceso productivo en SIMAC S.A.S
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TABLA DE CONTENIDO OBJETIVO GENERAL ....................................................................................................... ....................................................................................................... 7 OBJETIVOS OBJETIVOS ESPECÍFICOS ESPECÍFICOS .......................................................................................... 7 INTRODUCCIÓN............................................................................................................... 8 CAPÍTULO 01 - CONCEPTUALIZACIÓN CONCEPTUALIZACIÓN .......................................................................... 9 CONSIDERACIONES CONSIDERACIONES GENERALES GENERALES.............................................................................. 9 NORMA IEC 61131-3 ................................................................................................... 10 ESTRUCTURA FUNCIONAL DE UN SISTEMA DE AUTÓMATA PROGRAMABLE . 10 FUNCIÓN DE INTERFAZ CON LOS SENSORES Y ACTUADORES ACTUADORES....................... 11 FUNCIÓN DE INTERFAZ HOMBRE-MÁQUINA HOMBRE-MÁQUINA (HMI) ............................................. 12 LOS LENGUAJES GRÁFICOS DEL ESTÁNDAR IEC 61131-3 ................................ 12 CAPÍTULO 02 - CONCEPTOS Y HERRAMIENTAS BÁSICAS DE PROGRAMACIÓN ... 13 ESTRUCTURA DE LAS REDES DE PETRI ................................................................. 13 ELEMENTOS DE UNA RED DE PETRI ................................................................... 13 ESQUEMAS ESQUEMAS O TIPOLOGÍAS TIPOLOGÍAS DE LAS REDES DE PETRI ....................................... 15 ERRORES DE REPRESENTACIÓN REPRESENTACIÓN............................................................................ 16 REDES DE PETRI TEMPORIZADAS E INTERPRETADAS POR PERIFERIA (IPN) ... 18 REDES DE PETRI JERÁRQUICAS (HPN) .................................................................. 20 TIPO DE VARIABLES VARIABLES .................................................................................................. 24 DIRECCIONAMIENTO DIRECCIONAMIENTO................................................................................................. 25 DIRECCIONAMIENTO DIRECCIONAMIENTO DIRECTO ............................................................................ 25 DIRECCIONAMIENTO DIRECCIONAMIENTO INDIRECTO ......................................................................... 27 DIRECCIONAMIENTO DIRECCIONAMIENTO SIMBÓLICO SIMBÓLICO ......................................................................... 28 DOCUMENTACIÓN DOCUMENTACIÓN ..................................................................................................... 29 ESTRUCTURA DEL PROGRAMA PROGRAMA ............................................................................... 30 FUNCIONES (FC - SUBRUTINAS) .......................................................................... 30 BLOQUES DE FUNCIONES FUNCIONES (FB)............................................................................. 31 BLOQUE PRINCIPAL PRINCIPAL ............................................................................................... 31 CAPÍTULO 03 – MODOS DE OPERACIÓN .................................................................... 35 PRELIMINAR PRELIMINAR ............................................................................................................... 35 35 SELECTOR MODO DE OPERACIÓN.......................................................................... 35
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MODO SEMIAUTOMÁTICO SEMIAUTOMÁTICO......................................................................................... 45 PROGRAMACIÓN PROGRAMACIÓN MODO SEMIAUTOMÁTICO SEMIAUTOMÁTICO....................................................... 45 MODO AUTOMÁTICO ................................................................................................. 46 PROGRAMACIÓN PROGRAMACIÓN PARA MODO AUTOMÁTICO AUTOMÁTICO ..................................................... 46 46 CODIFICACIÓN CODIFICACIÓN DE LA RED DE PETRI................................................................... 47 ACTIVACIÓN DE LAS SALIDAS EN MODO SEMI -AUTOMÁTICO Y AUTOMÁTICO ................................................................................................................................. 52 MODO ESPECIAL DE OPERACIÓN OPERACIÓN PASO A PASO ............................................... 56 CAPÍTULO 04 – MARCAJE INICIAL Y CONDICIONES INICIALES ................................ 59 MARCAJE INICIAL ...................................................................................................... 59 CODIFICACIÓN CODIFICACIÓN MARCAJE INICIAL ............................................................................ 60 60 CONDICIONES CONDICIONES INICIALES.......................................................................................... 61 CAPÍTULO 05 - TEMPORIZADORES, CONTADORES Y TRANSICIONES INSTANTÁNEAS INSTANTÁNEAS ............................................................................................................. 63 63 TEMPORIZADORES.................................................................................................... TEMPORIZADORES.................................................................................................... 63 63 TIPOS DE TEMPORIZADORES TEMPORIZADORES............................................................................... 67 CONTADORES CONTADORES ............................................................................................................ ............................................................................................................ 70 TIPOS DE CONTADORES CONTADORES ....................................................................................... 71 TRANSICIONES TRANSICIONES INSTANTÁNEAS INSTANTÁNEAS .............................................................................. 74 74 CONCLUSIONES CONCLUSIONES ............................................................................................................ 75 BIBLIOGRAFÍA BIBLIOGRAFÍA................................................................................................................ 76
TABLAS Tabla 1. Tipos de Datos ................................................................................................... 24 Tabla 2. Áreas de Memoria .............................................................................................. 25 Tabla 3. Direccionamiento Simbólico - Entradas Digitales ............................................... 28 Tabla 4. Direccionamiento Simbólico - Salidas Digitales .................................................. 28 Tabla 5. Direccionamiento Simbólico - Marcas ................................................................ 28 Tabla 6. Direccionamiento Simbólico - Variables V .......................................................... 29 Tabla 7. Direccionamiento Simbólico - Temporizadores .................................................. 29 Tabla 8. Direccionamiento Simbólico - Contadores.......................................................... 29
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Ilustración 3. Función interfaz Hombre-Máquina .............................................................. 12 Ilustración 4. Elementos de una Red de Petri .................................................................. .................................................................. 14 Ilustración 5. Conjunto de lugares de entrada a t1 ........................................................... 14 Ilustración 6. Conjunto de transiciones de entrada a P1 .................................................. 14 Ilustración 7. Conjunto de lugares de salida de t1 ............................................................ 15 Ilustración 8. Conjunto de transiciones de salida de P1 ................................................... 15 Ilustración 9. Red de Petri Secuencial ............................................................................. 15 Ilustración 10. Bifurcación en un Lugar ............................................................................ 15 Ilustración 11. Bifurcación en una Transición ................................................................... 16 Ilustración 12. Sincronización .......................................................................................... 16 Ilustración 13. Errores de Representación 1 (Redes de Petri).......................................... 17 Ilustración 14. Errores de Representación 2 (Redes de Petri).......................................... 17 Ilustración 15. Ejemplo Ilustrativo 1 - Redes de Petri Temporizadas e Interpretadas por Periferia (IPN) .................................................................................................................. 18 Ilustración 16. Red de Petri - Ejemplo Ilustrativo 1 ........................................................... 19 Ilustración 17. Estructura de las Redes de Petri Jerárquicas ........................................... 20 Ilustración 18. Ejemplo Ilustrativo 2 - Redes de Petri Jerárquicas .................................... 21 Ilustración 19. Red de Petri Principal - Ejemplo Ilustrativo 2 ............................................ 22 Ilustración 20. Subred SBR 0 - Ejemplo Ilustrativo 2 ........................................................ 22 Ilustración 21. Subred SBR 1 - Ejemplo Ilustrativo 2 ........................................................ 23 Ilustración 22. Subrutina Reutilizable 0 - Ejemplo Ilustrativo 2 ......................................... 23 Ilustración 23. Subrutina Reutilizable Reutilizable 1- Ejemplo Ilustrativo 2 ......................................... 24 Ilustración 24. Direccionamiento Directo - Direccionar a un Bit ........................................ 26 Ilustración 25. Direccionamiento Directo - Direccionar a un Byte, Word o DobleWord ..... 27 Ilustración 26. Llamado Estructural a Funciones .............................................................. 32 Ilustración 27. Esquema de Bloques en Software de Programación Step7/Microwin ....... 33 Ilustración 28. Llamado Condicional e Incondicional de Subrutinas en Software de Programación Step7/Microwin ......................................................................................... 34 Ilustración 29. Selector de Modo de Operación Físico ..................................................... 36 Ilustración 30. Selector Modo Operación desde Pantalla (Más de 2 opciones) ................ 37 Ilustración 31. Selector 1 Modo Operación desde Pantalla (2 opciones) o pciones).......................... 37 Ilustración 32. Selector 2 Modo Operación desde Pantalla (2 opciones) o pciones).......................... 37 Ilustración 33. Evaluación Posición Selector de Modo de Operación Físico 3 Posiciones en Bloque Principal (Main) .................................................................................................... 38 Ilustración 34. Evaluación Posición Selector de Modo de Operación Físico 2 Posiciones en Bloque Principal (Main) .................................................................................................... 38 Ilustración 35. Evaluación Modo de Operación por pantalla 3 Posiciones en Bloque Principal (Main) ................................................................................................................ 39 Ilustración 36. Evaluación Modo de Operación por pantalla 2 Posiciones en Bloque Principal (Main) ................................................................................................................ 39 Ilustración 37. Ejemplo Ilustrativo 3 - Modo Operación Manual ........................................ 41 Ilustración 38. Programación Modo Manual Software de Programación Step7/Microwin Ejemplo Ilustrativo 3 ........................................................................................................ 42 Ilustración 39. Programación Modo Manual Software de Programación Step7/Microwin Ejemplo Ilustrativo 4 ........................................................................................................ 43
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Ilustración 42. Ejemplo Ilustrativo 6 – Codificación de las Redes de Petri en Step7/Microwin ................................................................................................................ ................................................................................................................ 48 48 Ilustración 43. Estructuras más importantes desarrolladas en las Redes de Petri en Lenguaje RLL - Relay Ladder Logic ................................................................................. 49 Ilustración 44. Ejemplo Ilustrativo 7 - Red de Petri Propuesta para Codificar en Step7/Microwin ................................................................................................................ ................................................................................................................ 50 50 Ilustración 45. Puntos Relevante Codificación Red de Petri en Step7/Microwin - Ejemplo Ilustrativo 7 ...................................................................................................................... 52 Ilustración 46. Activación de las salidas en Step7/Microwin ............................................. 52 Ilustración 47. Activación 1 Salidas en Modo Semiautomático y Automático ................... 53 Ilustración 48. Codificación Activación 1 Salidas en Modo Semiautomático y Automático en Step7/Microwin ........................................................................................................... 53 Ilustración 49. Activación 2 Salidas en Modo Semiautomático y Automático ................... 54 Ilustración 50. Codificación Activación 2 Salidas en Modo Semiautomático y Automático en Step7/Microwin ........................................................................................................... 55 Ilustración 51. Ejemplo Ilustrativo 8 - Modo de Operación Paso a Paso .......................... 56 Ilustración 52. Codificación Modo de Operación Paso a Paso - Ejemplo Ilustrativo 8 ...... 58 Ilustración 53. Ejemplo ilustrativo 9 - Marcaje Inicial ........................................................ 59 Ilustración 54. Ejemplo Ilustrativo 10 - Codificación Marcaje Inicial Red de Petri ............. 61 Ilustración 55. Ejemplo Ilustrativo 11 - Evaluación Condiciones Iniciales ......................... 62 Ilustración 56. Ejemplo Ilustrativo 12 - Tiempos Propios del Proceso .............................. 63 Ilustración 57. Ejemplo Ilustrativo 13 - Tiempos (Retardos) de Programación ................. 64 Ilustración 58. Ejemplo Ilustrativo 14 - Transición Instantánea In stantánea......................................... 64 Ilustración 59. Ejemplo Ilustrativo 15 - Correcta Activación de Temporizadores en Step7/Microwin ................................................................................................................ ................................................................................................................ 65 65 Ilustración 60. Ejemplo Ilustrativo 16 - Red de Petri Temporizador Ciclo de producción produ cción .. 66 Ilustración 61. Codificación Temporizador Ciclo de producción - Ejemplo Ilustrativo 16 .. 66 Ilustración 62. Cálculo Valor Preselección Temporizador según base de Tiempo............ 67 Ilustración 63. Temporizador con retardo a la conexión ................................................... 68 Ilustración 64. Ejemplo Ilustrativo 17 – Funcionamiento Temporizador con Retardo a la Conexión ......................................................................................................................... 68 Ilustración 65. Temporizador con retardo a la conexión con memoria.............................. 68 Ilustración 66. Ejemplo Ilustrativo 18 - Funcionamiento Temporizador con retardo a la conexión con memoria ..................................................................................................... 69 Ilustración 67. Temporizador T emporizador con retardo a la Desconexión ............................................. 69 Ilustración 68. Ejemplo Ilustrativo 19 - Funcionamiento Temporizador con retardo a la desconexión .................................................................................................................... 69 Ilustración 69. Distribución de los números de Temporizadores Utilizables en Step7/Microwin ................................................................................................................ ................................................................................................................ 70 70 Ilustración 70. Ejemplo Ilustrativo 20 - Inicialización de Contadores ................................ 70 Ilustración 71. Contador Incremental ............................................................................... 71 Ilustración 72. Ejemplo Ilustrativo 21 - Funcionamiento Contador Incremental ................ 71 Ilustración 73. Contador Decremental .............................................................................. 71 Ilustración 74. Ejemplo Ilustrativo 22 - Funcionamiento Contador Decremental ............... 72 Ilustración 75. Contador Incremental / Decremental ........................................................ 72
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OBJETIVO GENERAL Establecer una metodología de codificación de los modelos de redes de Petri siguiendo la norma IEC61131-3, que determine una correcta estructura de programación de Micro PLC's SIEMENS S7-200.
OBJETIVOS ESPECÍFICOS 1. Documentar varios de los conceptos y metodologías de trabajo desarrollados en los cursos de Automatización I y II. 2. Estandarizar los juicios de programación de Micro PLC's SIEMENS SIEMENS en sistemas secuenciales tipo causa-evento modelados con la técnica de Redes de Petri. 3. Elaborar un documento documento de apoyo apoyo para corregir inconsistencias en la respuesta del PLC, debido a características de lectura propias pr opias del mismo Controlador.
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INTRODUCCIÓN La implementación de las Redes de Petri para el desarrollo y programación de PLC’s se ha convertido en una herramienta esencial para la comprensión e interpretación de los problemas de automatización. Sin embargo, con la experiencia que se ha adquirido a lo largo de las implementaciones desarrolladas con dicha técnica, han surgido ciertas falencias y dificultades que han puesto en consideración el uso de la misma y han llevado a los programadores a tomar decisiones adversas y a realizar modificaciones a veces inusuales sobre lo que se tiene establecido para su desarrollo. Que estas decisiones queden a criterio del programador y sin ningún fundamento válido que la soporte es lo que se desea mitigar con este documento. De esta manera, se presenta en este trabajo de grado, una solución práctica y confiable basada en la normalización y estandarización de los procedimientos y criterios para la elaboración de programas, teniendo en cuenta la norma IEC61131-3 y los parámetros establecidos por el fabricante del PLC y por el software de programación.
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CAPÍTULO 01 - CONCEPTUALIZACIÓN CONSIDERACIONES GENERALES La idea de normalizar y estandarizar los procedimientos y criterios para la elaboración de los códigos de programa para los PLC Siemens utilizados, surgió bajo la necesidad de dar solución a diversos problemas de interpretación y ejecución del mismo. De esta manera, las soluciones que se presentan en este manual, básicamente fueron diseñadas y estructuradas en casos presentados en los PLC’s Siemens S7-200, lo que indica que solo puede ser estrictamente fiel a la generación de código en STEP 7 MICROWIN, o en casos excepcionales en que la generación de código sea similar. Bajo las anteriores observaciones se presentan los siguientes criterios generales: •
•
•
•
•
Para el desarrollo de cualquier programa, se deben comentar cada una de las líneas de código, permitiendo así que cada programador tenga la capacidad de manipular y modificar modificar cualquier programa sin ninguna dificultad. La elaboración del código de programa de cada uno de los mandos, se debe realizar en una subrutina independiente, esto con el fin de tener una estructura ordenada que facilite la lectura y verificación del programa. La concepción teórica de la estructura y diseño de las Redes de Petri no debe ser modificada, y se deben respetar los lineamientos y procedimientos exigidos para su normal desarrollo. Cada programa será almacenado con su respectivo diseño de Red de Petri, incluyendo las versiones anteriores y las versiones actuales. Para la correcta interpretación de la Red de Petri con el programa, se debe manejar con total transparencia la simbología y demás componentes que la
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NORMA IEC 61131-3 Las aplicaciones industriales actuales demandan el diseño de sistemas más complejos, seguros, fiables, que exhiban un alto grado de flexibilidad y reutilización. Características necesarias para adaptarse rápidamente a un mercado cada vez más cambiante y competitivo. La estandarización es un objetivo clave a alcanzar en la integración y la reutilización en este tipo de aplicaciones. Los esfuerzos de estandarización internacionales han llevado a la definición del estándar IEC 61131. La parte 3 de este estándar define un modelo de software para especificar proyectos de automatización haciendo énfasis en la reutilización de software y establece las especificaciones de la sintaxis y semántica (estructura) de dicho lenguaje. Actualmente una gran parte de los principales fabricantes de Controladores Lógicos Programables (PLC) ofrecen herramientas de programación que siguen el estándar. IEC 61131-3. Esta norma pretende ser la base real para estandarizar los lenguajes de programación en la automatización industrial, haciendo el trabajo independiente de cualquier compañía fabricante De esta manera, IEC 61131 es el primer paso en la estandarización de los autómatas programables y sus periféricos.
ESTRUCTURA FUNCIONAL FUNCIONAL DE UN SISTEMA DE AUTÓMATA PROGRAMABLE
La siguiente imagen, corresponde a la definición de la Norma IEC 61131 respecto a la estructura funcional de un sistema autómata programable. Dicha estructura define las siguientes funciones: •
Funciones de Alimentación de potencia. Funciones de comunicación
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Ilustración 1. Estructura Funcional del Sistema de un Autómata Programable. Programable.
FUNCIÓN DE INTERFAZ CON LOS SENSORES Y ACTUADORES
La siguiente imagen, muestra con algo más de detalle la definición de la Norma IEC 61131 respecto a la estructura funcional de la interfaz con los sensores y actuadores.
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FUNCIÓN DE INTERFAZ HOMBRE-MÁQUINA (HMI)
La siguiente imagen, muestra con algo más de detalle la definición de la Norma IEC 61131 respecto a la estructura funcional de la interfaz Hombre - Máquina.
Ilustración 3. Función interfaz Hombre-Máquina
LOS LENGUAJES GRÁFICOS DEL ESTÁNDAR IEC 61131-3
La parte 3 del IEC 61131 especifica la gramática, sintaxis y semántica, de un total de cinco lenguajes de programación de Controladores Lógicos Programables. En concreto, dos de ellos son textuales y tres gráficos.
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CAPÍTULO 02 - CONCEPTOS Y HERRAMIENTAS BÁSICAS DE PROGRAMACIÓN ESTRUCTURA DE LAS REDES DE PETRI Para abordar este tema, se asume que el lector posee un conocimiento medio acerca de la teoría y la representación formal y matemática de Redes de Petri utilizadas en el diseño, análisis y control de procesos automatizados descritos por sistemas a eventos discretos. Las Redes de Petri deben representar el comportamiento dinámico del sistema o proceso sin oportunidad a ambigüedades. Debe ser lo suficientemente flexibles que facilite la integración de nuevas funciones y deben ser además, un método para generar de manera automática y transparente el código de programación del controlador lógico (PLC). ELEMENTOS DE UNA RED DE PETRI LUGARES: Llevan asociados las acciones que debe tomar el sistema modelado. Se asocian a las salidas del sistema TRANSICIONES: Señales o eventos que permiten evolucionar el sistema de un lugar a
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EVENTO: Es el cambio de valor de una variable en un instante de tiempo t. Para el caso de variables booleanas, un evento es el cambio de valor binario de la variable (pasar de 0 a 1 flanco positivo ó pasar de 1 a 0 flanco negativo )
El tipo de Redes de Petri que se manejarán son Redes de Petri binarias (solamente puede haber una marca en cada lugar) y/o seguras (El numero de marcas en un lugar de la Red de Petri nunca es mayor a uno) y ordinarias (El peso de los arcos es 1). RECEPTIVIDAD: La receptividad se asocia a las transiciones. Es el producto de un evento por una variable booleana. La red evoluciona si la variable booleana es verdadera y el evento ocurre. Si el evento ocurre y la variable booleana es falsa la red no evoluciona y viceversa.
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Ilustración 8. Conjunto de transiciones de salida de P1 Ilustración 7. Conjunto de lugares de salida de t1
ESQUEMAS O TIPOLOGÍAS DE LAS REDES DE PETRI
Apoyados en las Redes de Petri, se podrán representar cantidades de procesos, sistemas y subsistemas autómatas. A continuación se abordarán las tipologías más comunes en este proceso de modelamiento. SECUENCIALES: Una red es secuencial si y sólo si, toda transición tiene exactamente un lugar de entrada y uno de salida.
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BIFURCACIÓN EN UNA TRANSICIÓN: (Paralelismo) Esta situación se da cuando una transición tiene varios lugares posteriores. En este caso las marcas son enviadas en forma simultánea hacia los lugares posteriores. Esta tipología es común cuando se tienen procesos paralelos en el autómata, ya que, una vez se da la bifurcación, se inicia un proceso en la red conocido como concurrencia (paralelismo), es decir, dos subRedes que evolucionan de manera independiente una de la otra. De esta manera se pueden estar realizando 2 o más acciones de forma independiente.
Ilustración 11. Bifurcación en una Transición
SINCRONIZACIÓN: Esta situación se da cuando una transición tiene varios lugares anteriores. Las marcas esperan en estos lugares hasta el instante en el cual la última marca que es necesaria para habilitar el disparo de la transición (sensibilizar la transición) arribe a dicho lugar. En ese instante son consumidas simultáneamente todas las marcas sincronizando el sistema previamente bifurcado.
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REDES DE PETRI TEMPORIZADAS E INTERPRETADAS POR PERIFERIA (IPN) Una Red de Petri autónoma no está asociada a ningún tipo de evento ni incluyen conceptos temporales, es por ello que no son lo suficientemente adecuadas para el modelamiento de sistemas a eventos discretos, ya que carecen de interpretación de señales de entrada y salida para interactuar con los PLC´s. Para ello se requiere el uso de las IPN temporizadas, las cuales incorporan periferia del proceso y temporizaciones en las transiciones. En este punto el lector debe conocer los conceptos y las operaciones básicas del algebra booleana, ya que, las Redes de Petri interpretadas están caracterizadas por que los eventos y las condiciones se definen sobre este tipo de variables.
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REDES DE PETRI JERÁRQUICAS (HPN) Un problema común de las Redes de Petri, es su tamaño, ya que para sistemas complejos, el modelo IPN crece demasiado. Estos modelos IPN (denominados no jerárquicos), se tornan inmanejables para modelar el proceso. Una estrategia que se ha utilizado exitosamente es agrupar secciones de la Red de Petri en subredes. Al hacer este agrupamiento la nueva Red de Petri se presenta como una red principal con entradas y con salidas. Así, la construcción de modelos complejos en Redes de Petri puede facilitarse mediante la construcción de Redes más pequeñas y simples. Las Redes de Petri jerárquicas permiten tener diferentes niveles de descripción del sistema. En un nivel se puede describir al sistema global de manera simple y en niveles adicionales se proporcionan los detalles del comportamiento.
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EJEMPLO:
Considerar el ejemplo anterior de IPN. Esta vez ambos carros inician el recorrido con la señal de inicio. Cada vez que el carro C1 alcanza alguno de los fines de carrera, otro carro (C3) inicia un recorrido similar alcanzando los fines de carrera F5 y F6. El recorrido de C1 se reactiva con el fin del recorrido de C3. De manera similar sucede con el carro 2 (C2) y un carro C4 asociado a dicho movimiento, este último debe alcanzar los fines de carrera F7 y F8. El ciclo se repite con una nueva señal del pulsador de inicio.
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Reales (Doble palabra)
4 Bytes
Reales
E/S analógicas, Variables Reales
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DIRECCIONAMIENTO DIRECCIONAMIENTO DE BIT
Para acceder a un bit en un área de memoria específico es preciso indicar la dirección del mismo, compuesta por un identificador de área (I, Q, V, M, SM), la dirección del byte y el
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Ilustración 55. Ejemplo Ilustrativo 11 - Evaluación Condiciones Iniciales
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CAPÍTULO 05 - TEMPORIZADORES, CONTADORES Y TRANSICIONES TR ANSICIONES INSTANTÁNEAS TEMPORIZADORES En toda solución automática pueden existir temporizadores inherentes al proceso que parten de los mismos requerimientos del cliente, por ejemplo, la activación temporizada de algunos actuadores cuando no se poseen sensores que indiquen el final de dicha activación. Existen también pequeños retardos aplicados a la secuencia de la red de Petri. Estos retardos se dan debido a que en ocasiones, no se encuentran señales de periferia, condiciones o eventos del proceso que representen una transición entre 2 lugares de la red. Es claro en este punto del manual que no está permitido -esquemáticamente hablandopasar de un lugar a otro lugar de la red sin una transición que los una. Es así como, para solucionar este inconveniente, se utilizan temporizadores con un valor de preselección bastante corto (tao~mseg) con el fin retardar la menor cantidad de tiempo posible la evolución natural de la Red de Petri. Ahora bien, en muchas de las aplicaciones estos retardos no son bien vistos por el cliente dada la necesidad de disminuir el tiempo de producción y aumentar el número de piezas producidas por turno y es así cuando se omiten los retardos y se quebranta un poco la esquematización de las redes de Petri ubicando transiciones sin eventos asociados.
Ilustración 56. Ejemplo Ilustrativo 12 - Tiempos Propios del Proceso
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Ilustración 57. Ejemplo Ilustrativo 13 - Tiempos (Retardos) de Programación
Ilustración 58. Ejemplo Ilustrativo 14 - Transición Instantánea
Como se indicó en el capítulo 3, si se requiere activar (habilitar) un temporizador, esto se hace en la network (segmento) inmediatamente posterior de donde se setea la marca que activa dicho temporizador, siguiendo la secuencia normal de la Red de Petri.
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Ilustración 59. Ejemplo Ilustrativo 15 - Correcta Activación de Temporizadores en Step7/Microwin
Si se requiere que el temporizador permanezca habilitado contando el tiempo de preselección aún durante varios lugares más en la red de Petri después de pasar por el lugar donde ha sido activado, no se podrá hacer uso de la marca que representa dicho lugar de activación, sino hacer uso de una marca auxiliar la cual se encargará de habilitarlo y deshabilitarlo en los momentos indicados. Ahora bien, para aplicar la activación de un temporizador en la network (segmento) inmediatamente posterior de donde se setea la marca que activa dicho temporizador sólo se debe garantizar que dicho temporizador presencie en algún ciclo de lectura del PLC, sus respectivas señales de activación para iniciar a temporizar y de desactivación para detener el conteo. Recuerde que el PLC lee de arriba hacia abajo y de izquierda a derecha. El siguiente ejemplo mostrará este detalle. EJEMPLO:
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Ilustración 60. Ejemplo Ilustrativo 16 - Red de Petri Temporizador Ciclo de producción
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El temporizador T_Tiempo_Ciclo según lo muestra la Red de Petri, se activa al iniciar la secuencia y se desactiva al finalizar la misma. Esta activación no presenta inconveniente en modo semiautomático ya que para activar de nuevo el T_Tiempo_Ciclo en un nuevo ciclo, se requiere de un cierre de puerta, el tiempo que demora en suceder este evento, da oportunidad suficiente para que la CPU evalúe el código varios ciclos, de esta manera, el PLC verá una caída en la señal de activación del temporizador, luego, reiniciará el conteo del mismo. Ahora bien, el inconveniente se presenta en modo automático, ya que una vez la secuencia llegue al lugar P10 (Network 35), se resetea la marca de activación del temporizador. Pero la lectura del PLC vuelve a arrancar desde la network 20 y Con la presencia de P10 y las Condiciones Iniciales es suficiente para arrancar de nuevo el ciclo de operación de máquina, esto implica de nuevo el seteo de la marca de activación del tiempo de ciclo. Cuando la lectura pase a la network 21, el temporizador no notará una caída en su señal de activación, luego éste seguirá corriendo como si siempre hubiera estado activo. Para eliminar este inconveniente, se acepta subir esta network en la subrutina de programación, una, dos o las network’s que sean necesarias para que la lectura del PLC note una caída en su señal de activación y así se reinicie el temporizador. TIPOS DE TEMPORIZADORES
Los PLC’s trabajan los temporizadores en escalas de milisegundos, es por ello que para calcular el valor de tiempo deseado a contar en segundos se debe seguir la siguiente fórmula simple:
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Son 3 los tipos de temporizadores que maneja la gama g ama de PLC’s S7-200 de SIEMENS: TON: TEMPORIZADOR CON RETARDO A LA L A CONEXIÓN.
Ilustración 63. Temporizador con retardo a la conexión
La operación temporizador como retardo retardo a la conexión (TON) (TON) cuenta el tiempo al estar activada (ON) la entrada de habilitación. Si el valor actual (Txxx) es mayor o igual al valor de preselección (PT), se activará el bit de temporización (bit T). El temporizador continúa contando tras haber alcanzado el valor de preselección y detiene el conteo cuando alcanza el valor máximo de 32767.
Ilustración 64. Ejemplo Ilustrativo 17 – Funcionamiento Temporizador con Retardo a la Conexión
TONR: TEMPORIZADOR CON RETARDO A LA CONEXIÓN CON MEMORIA.
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Ilustración 66. Ejemplo Ilustrativo 18 - Funcionamiento Temporizador con retardo a l a conexión con memoria
TONR: TEMPORIZADOR CON RETARDO A LA DESCONEXIÓN
Ilustración 67. Temporizador con retardo a la Desconexión
La operación Temporizador como retardo a la desconexión (TOF) se utiliza para retardar la puesta a 0 (OFF) de una salida durante un período determinado tras haberse desactivado (OFF) una entrada. Cuando la entrada de habilitación se activa (ON), el bit de temporización se activa (ON) inmediatamente y el valor actual se pone a 0. Cuando la entrada se desactiva (OFF), el temporizador cuenta hasta que el tiempo transcurrido alcanza el valor de preselección. Una vez alcanzado éste, el bit de temporización se desactiva (OFF) y el valor actual detiene el contaje. Si la entrada está desactivada (OFF) durante un tiempo inferior al valor de preselección, el bit de temporización permanece activado (ON). Para que la operación TOF comience a contar se debe producir un cambio de ON a OFF.
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Ilustración 69. Distribución de los números de T emporizadores Utilizables en Step7/Microwin Step7/Microwin
CONTADORES Los contadores son también elementos importantes en las soluciones automáticas. Muchos de los procesos industriales requieren en su secuencia repetir varios movimientos antes de terminar la secuencia de la máquina, por ejemplo, expulsar más de una vez una pieza en una inyectora de plástico. Esto se simplifica con el uso de los contadores. Para la compañía es de suma importancia conocer y llevar registro de las cantidades de unidades producidas (según su razón social), de esta manera contar la producción y ofrecer este registro es también tarea de programación. Para activar o incrementar un contador se deben seguir las mismas indicaciones hechas para los temporizadores, salvo que el contador incrementa o decrementa tras detectar un flanco positivo en la señal de activación. Se recomienda además inicializar a 0 el valor de éstos tras el arranque del PLC (paso de STOP a RUN) en el bloque principal con ayuda de la marca especial SM0.1 y reiniciar tras un paro de emergencia los contadores que evalúan cantidad de repeticiones para secuencia de movimiento. Los contadores de producción deben permanecer para evitar pérdidas de datos de producción.
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TIPOS DE CONTADORES
Son 3 los tipos de contadores básicos que maneja la gama de PLC’s S7-200 de SIEMENS: CTU: INCREMENTAR CONTADOR
Ilustración 71. Contador Incremental
La operación Incrementar contador (CTU) empieza a contar adelante a partir del valor actual cuando se produce un flanco positivo en la entrada de contaje adelante CU. Si el valor actual (Cxxx) es mayor o igual al valor de preselección (PV), se activa el bit de contaje (Cxxx). El contador se inicializa cuando se activa la entrada de desactivación (R) o al ejecutarse la operación Poner a 0. El contador se detiene cuando el valor de contaje alcance el valor límite superior (32.767).
Ilustración 72. Ejemplo Ilustrativo 21 - Funcionamiento Contador Incremental
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contaje (Cxxx) y carga el valor actual con el valor de preselección (PV) cuando se activa la entrada de carga (LD). El contador se detiene cuando alcanza el valor "0" y el bit de temporización Cxxx se activa.
Ilustración 74. Ejemplo Ilustrativo 22 - Funcionamiento Contador Decremental
CTD: INCREMENTAR/DECREMENTAR CONTADOR
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Ilustración 76. Ejemplo Ilustrativo 23 - Funcionamiento Contador Incremental / Decremental
EJEMPLO
El siguiente ejemplo muestra una de las aplicaciones más comunes de los contadores a nivel industrial. Se quiere llevar un registro de cuánto tiempo en minutos y segundos ha permanecido encendido un motor cuya salida está asociada a la Q0.0. 1. Llevar en un primer contador C0 (C_Cont_Segundos) el registro de la cantidad de segundos que ha permanecido el motor encendido. Con ayuda del byte de estado del sistema SMB0 en particular del bit SM0.5 llevar el conteo de los segundos. Reloj_1s (SM0.5): Este
bit ofrece un reloj que está desactivado durante 0,5 segundos y
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Ilustración 77. Ejemplo Ilustrativo 24 - Horómetro con contadores
TRANSICIONES INSTANTÁNEAS
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CONCLUSIONES Seguir esta metodología de codificación de los modelos de redes de Petri siguiendo la norma IEC61131-3, nos permite realizar una correcta estructura de programación, disminuyendo así las probabilidades de error y las incertidumbres en las respuestas de los micro PLC’s a las órdenes programadas. Las aplicaciones industriales actuales demandan el diseño de sistemas más complejos, seguros, fiables, que exhiban un alto grado de flexibilidad y reutilización. La integración y la reutilización en este tipo de aplicaciones se pueden alcanzar gracias a estandarizaciones y metodologías como las plasmadas en este documento. Esta metodología puede ser escalable a la programación de equipos más robustos como PLC’s de gama media y alta con tiempos de respuesta mucho más altos.
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BIBLIOGRAFÍA Zapata M. Germán, Branch Jhon, Quintero Henao Luis, Gonzales Carlos, Medina Carlos. Metodología para generación de código a partir de modelos en Redes de Petri jerárquicas.
Zapata M. Germán I.E., M.s.c. (2007) Diseño de Automatismos secuenciales para controladores Lógicos Programables.
Escuela de ingeniería eléctrica y mecánica. Universidad Nacional de Colombia. Formalización de las Redes de Petri Jerárquicas.